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Fixed build with OpenCV >= 3.4.11

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This commit is contained in:
matlabbe
2020-07-02 16:29:23 -04:00
parent 33e9abdfad
commit e800662bac
6 changed files with 192 additions and 40 deletions
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tools/Report/main.cpp
+182 -19
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@@ -47,10 +47,8 @@ using namespace rtabmap;
void showUsage()
{
printf("\nUsage:\n"
#ifdef WITH_QT
"rtabmap-report [\"Statistic/Id\"] [options] path\n"
#else
"rtabmap-report [options] path\n"
#ifdef WITH_QT
"[Not built with Qt, statistics cannot be plotted]\n"
#endif
" path Directory containing rtabmap databases or path of a database.\n"
@@ -63,8 +61,8 @@ void showUsage()
" and compute error based on the scaled path.\n"
" --poses Export poses to [path]_poses.txt, ground truth to [path]_gt.txt\n"
" and valid ground truth indices to [path]_indices.txt \n"
" --stats Show available statistics \"Statistic/Id\" to plot or get localization statistics (if path is a file). \n"
#ifdef WITH_QT
" --stats Show available statistics to plot (if path is a file). \n"
" --invert When reading many databases, put all curves from a same \n"
" database in same figure, instead of all same curves from \n"
" different database in same figure. When reading a single \n"
@@ -72,11 +70,45 @@ void showUsage()
" --ids Use IDs for x axis instead of time in the figures. \n"
" --start # Start from this node ID for the figures.\n"
#endif
" --report Export all statistics values in report.txt \n"
" --report Export all evaluation statistics values in report.txt \n"
" --loc # Show localization statistics for each \"Statistic/Id\" per "
" session for 1=min,2=max,4=mean,8=stddev,16=total,32=nonnull%% "
" (it is a mask, we can combine those numbers, e.g., 63 for all) \n"
" --help Show usage\n\n");
exit(1);
}
struct LocStats
{
static LocStats from(const std::vector<float> & array)
{
LocStats values;
values.mean = uMean(array);
values.stddev = std::sqrt(uVariance(array, values.mean));
uMinMax(array, values.min, values.max);
values.total = array.size();
values.nonNull = 0.0f;
if(!array.empty())
{
for(size_t j=0; j<array.size(); ++j)
{
if(array[j] != 0)
{
values.nonNull+=1.0f;
}
}
values.nonNull = values.nonNull/float(array.size());
}
return values;
}
float mean;
float stddev;
float min;
float max;
int total;
float nonNull;
};
int main(int argc, char * argv[])
{
if(argc < 2)
@@ -101,6 +133,7 @@ int main(int argc, char * argv[])
bool invertFigures = false;
bool useIds = false;
int startId = 0;
int showLoc = 0;
std::vector<std::string> statsToShow;
#ifdef WITH_QT
std::map<std::string, UPlot*> figures;
@@ -151,7 +184,20 @@ int main(int argc, char * argv[])
{
useIds = true;
}
#ifdef WITH_QT
else if(strcmp(argv[i],"--loc") == 0)
{
++i;
if(i<argc-1)
{
showLoc = atoi(argv[i]);
printf("Localization statistics=%d (--loc)\n", showLoc);
}
else
{
printf("Missing type for \"--showLoc\" option.\n");
showUsage();
}
}
else if(strcmp(argv[i],"--start") == 0)
{
++i;
@@ -171,22 +217,22 @@ int main(int argc, char * argv[])
statsToShow.push_back(argv[i]);
}
#endif
}
std::string path = argv[argc-1];
path = uReplaceChar(path, '~', UDirectory::homeDir());
#ifdef WITH_QT
if(!UDirectory::exists(path) && UFile::getExtension(path).compare("db") == 0)
{
invertFigures = !invertFigures;
}
if(!invertFigures)
std::map<std::string, std::map<std::string, std::vector<LocStats> > > localizationMultiStats; //<statsName, <Database<Session>> >
for(size_t i=0; i<statsToShow.size(); ++i)
{
for(size_t i=0; i<statsToShow.size(); ++i)
std::string figureTitle = statsToShow[i];
if(!invertFigures)
{
std::string figureTitle = statsToShow[i];
#ifdef WITH_QT
printf("Plot %s\n", figureTitle.c_str());
UPlot * fig = new UPlot();
fig->resize(QSize(640,480));
@@ -200,10 +246,17 @@ int main(int argc, char * argv[])
fig->setXLabel("Time (s)");
}
figures.insert(std::make_pair(figureTitle, fig));
#endif
}
if(showLoc & 0b111111)
{
localizationMultiStats.insert(std::make_pair(figureTitle, std::map<std::string, std::vector<LocStats> >()));
}
}
if(!invertFigures)
{
statsToShow.clear();
}
#endif
std::string fileName;
std::list<std::string> paths;
@@ -223,6 +276,7 @@ int main(int argc, char * argv[])
if(UFile::getExtension(currentPath).compare("db") == 0)
{
currentPathIsDatabase=true;
localizationMultiStats.clear();
printf("Database: %s\n", currentPath.c_str());
}
else
@@ -255,6 +309,7 @@ int main(int argc, char * argv[])
}
}
// For all databases in currentDir
while(currentPathIsDatabase || !(fileName = currentDir.getNextFileName()).empty())
{
if(currentPathIsDatabase || UFile::getExtension(fileName).compare("db") == 0)
@@ -327,6 +382,8 @@ int main(int argc, char * argv[])
for(std::map<std::string, UPlot*>::iterator iter=figures.begin(); iter!=figures.end(); ++iter)
{
curves.insert(std::make_pair(iter->first, iter->second->addCurve(filePath.c_str())));
if(!localizationMultiStats.empty())
localizationMultiStats.at(iter->first).insert(std::make_pair(fileName, std::vector<LocStats>()));
}
}
else
@@ -351,11 +408,31 @@ int main(int argc, char * argv[])
for(size_t i=0; i<statsToShow.size(); ++i)
{
curves.insert(std::make_pair(statsToShow[i], fig->addCurve(statsToShow[i].c_str())));
if(!localizationMultiStats.empty())
localizationMultiStats.at(statsToShow[i]).insert(std::make_pair(fileName, std::vector<LocStats>()));
}
}
}
#else
for(size_t i=0; i<statsToShow.size(); ++i)
{
if(!localizationMultiStats.empty())
localizationMultiStats.at(statsToShow[i]).insert(std::make_pair(fileName, std::vector<LocStats>()));
}
#endif
// Find localization sessions and adjust startId
if(!localizationMultiStats.empty() && startId ==0)
{
std::map<int, Transform> poses = driver->loadOptimizedPoses();
if(!poses.empty())
{
startId = poses.rbegin()->first+1;
}
}
std::map<std::string, std::vector<float> > localizationSessionStats;
double previousStamp = 0.0;
for(std::set<int>::iterator iter=ids.begin(); iter!=ids.end(); ++iter)
{
Transform p, gt;
@@ -432,22 +509,63 @@ int main(int argc, char * argv[])
#ifdef WITH_QT
for(std::map<std::string, UPlotCurve*>::iterator jter=curves.begin(); jter!=curves.end(); ++jter)
{
if(uContains(stat, jter->first) && *iter >= startId)
#else
for(std::map<std::string, std::map<std::string, std::vector<LocStats> > >::iterator jter=localizationMultiStats.begin();
jter!=localizationMultiStats.end();
++jter)
{
#endif
if(*iter >= startId)
{
double x = s;
if(useIds)
if(uContains(stat, jter->first))
{
x = *iter;
double y = stat.at(jter->first);
#ifdef WITH_QT
double x = s;
if(useIds)
{
x = *iter;
}
jter->second->addValue(x,y);
#endif
if(!localizationMultiStats.empty())
{
if(previousStamp > 0 && s - previousStamp > 10 && uContains(localizationSessionStats, jter->first))
{
// changed session
LocStats values = LocStats::from(localizationSessionStats.at(jter->first));
localizationMultiStats.at(jter->first).rbegin()->second.push_back(values);
localizationSessionStats.at(jter->first).clear();
}
if(!uContains(localizationSessionStats, jter->first))
{
localizationSessionStats.insert(std::make_pair(jter->first, std::vector<float>()));
}
localizationSessionStats.at(jter->first).push_back(y);
}
}
double y = stat.at(jter->first);
jter->second->addValue(x,y);
}
}
#endif
previousStamp = s;
}
}
}
for(std::map<std::string, std::map<std::string, std::vector<LocStats> > >::iterator jter=localizationMultiStats.begin();
jter!=localizationMultiStats.end();
++jter)
{
if(uContains(localizationSessionStats, jter->first) &&
!localizationSessionStats.at(jter->first).empty())
{
// changed session
LocStats values = LocStats::from(localizationSessionStats.at(jter->first));
localizationMultiStats.at(jter->first).rbegin()->second.push_back(values);
}
}
std::multimap<int, Link> links;
std::multimap<int, Link> allLinks;
driver->getAllLinks(allLinks, true, true);
@@ -823,6 +941,51 @@ int main(int argc, char * argv[])
currentPathIsDatabase = false;
}
for(std::map<std::string, std::map<std::string, std::vector<LocStats> > >::iterator iter=localizationMultiStats.begin();
iter!=localizationMultiStats.end();
++iter)
{
printf("%s\n", iter->first.c_str());
for(int k=0; k<6; ++k)
{
if(showLoc & (0x1 << k))
{
printf(" %s:\n",
k==0?"min":
k==1?"max":
k==2?"mean":
k==3?"stddev":
k==4?"total":
"nonnull%");
for(std::map<std::string, std::vector<LocStats> >::iterator jter=iter->second.begin(); jter!=iter->second.end(); ++jter)
{
printf(" %s ", jter->first.c_str());
for(size_t j=0; j<jter->second.size(); ++j)
{
if(k<4)
{
printf("%f ",
k==0?jter->second[j].min:
k==1?jter->second[j].max:
k==2?jter->second[j].mean:
jter->second[j].stddev);
}
else if(k==4)
{
printf("%d ",jter->second[j].total);
}
else if(k==5)
{
printf("%.2f ", (jter->second[j].nonNull*100));
}
}
printf("\n");
}
}
}
iter->second.clear();
}
for(std::list<std::string>::iterator iter=subDirs.begin(); iter!=subDirs.end(); ++iter)
{
paths.push_front(*iter);